#ifndef __PID_H_
#define __PID_H_

extern float Motor_P;
extern float Motor_I;
extern float Motor_D;
float PID_SetMotor(uint8 motor,float target);
void PID_SetMotor_test(float speed);
float PID_SetS(uint8 motor,float target);
float PID_Run(uint8 motor,float target,float dr);
float PID_SetAngle(float target);
float PID_SetAngle_V(float target);
float PID_S_V(uint8 motor,float target);
float PID_Control(uint8 motor,float target_s,float target_v);
#endif